This contents may be invalid after CARLA’s official support for ROS interface.
I used Carla0.8.1, its latest commit was on Apr 5, 2018.
Carla0.8.1 on GitHub
This articles explains how to get point cloud data in CARLA and export it to ROS. Specifically how to do the followings.
- equip a pseudo LiDAR on a vehicle
- obtain pointcloud data from the CARLA server via a client
- convert pointcloud into ROS message and publish it as a ROS topic
- display points in RVIZ